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<div class="title">Robot.cpp</div>  </div>
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<a href="_robot_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00002"></a>00002 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00003"></a>00003 
<a name="l00004"></a>00004 <span class="preprocessor">#include &lt;QtCore/QCoreApplication&gt;</span>
<a name="l00005"></a>00005 <span class="preprocessor">#include &lt;QtCore/QTimer&gt;</span>
<a name="l00006"></a>00006 <span class="preprocessor">#include &lt;QtCore/QDebug&gt;</span>
<a name="l00007"></a>00007 <span class="preprocessor">#include &lt;QtCore/QDir&gt;</span>
<a name="l00008"></a>00008 
<a name="l00009"></a>00009 
<a name="l00010"></a>00010 <span class="preprocessor">#include &lt;QsLog.h&gt;</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include &lt;QsLogDest.h&gt;</span>
<a name="l00012"></a>00012 
<a name="l00013"></a>00013 <span class="preprocessor">#include &lt;SmQtObserver.h&gt;</span>
<a name="l00014"></a>00014 
<a name="l00015"></a>00015 <span class="preprocessor">#include &quot;<a class="code" href="_robot_8h.html">Robot.h</a>&quot;</span>
<a name="l00016"></a>00016 <span class="preprocessor">#include &quot;<a class="code" href="_arm_8h.html">Arm.h</a>&quot;</span>
<a name="l00017"></a>00017 <span class="preprocessor">#include &quot;<a class="code" href="_camera_8h.html">Camera.h</a>&quot;</span>
<a name="l00018"></a>00018 <span class="preprocessor">#include &lt;RobotFsm.h&gt;</span> <span class="comment">// Generated header</span>
<a name="l00019"></a>00019 
<a name="l00020"></a><a class="code" href="class_robot.html#a4fc7c70ae20623f05e06f2ecb388b6c4">00020</a> <a class="code" href="class_robot.html#a4fc7c70ae20623f05e06f2ecb388b6c4">Robot::Robot</a>() 
<a name="l00021"></a>00021 {
<a name="l00022"></a>00022     <a class="code" href="class_robot.html#afa88703da4121d95dad2cfc33758a9b0">m_pArm</a> = <span class="keyword">new</span> <a class="code" href="class_arm.html">Arm</a>();
<a name="l00023"></a>00023     <a class="code" href="class_robot.html#a55d0bf3d1e013f274b1fe4354e0de8a7">m_pCamera</a> = <span class="keyword">new</span> <a class="code" href="class_camera.html">Camera</a>();
<a name="l00024"></a>00024 
<a name="l00025"></a>00025     <a class="code" href="class_robot.html#ab9803f802028f1a85760dc3fee009a85">logInit</a>();
<a name="l00026"></a>00026     <span class="comment">// Generated RobotContext</span>
<a name="l00027"></a>00027     <a class="code" href="class_robot.html#a6077a98499fd5a4164b4cb83c5ac514a">m_pRobotContext</a> = <span class="keyword">new</span> RobotContext(*<a class="code" href="class_robot.html#a55d0bf3d1e013f274b1fe4354e0de8a7">m_pCamera</a>, *<a class="code" href="class_robot.html#afa88703da4121d95dad2cfc33758a9b0">m_pArm</a>);
<a name="l00028"></a>00028     <a class="code" href="class_robot.html#a6077a98499fd5a4164b4cb83c5ac514a">m_pRobotContext</a>-&gt;SetObserver(SmQtObserver::GetInstance());
<a name="l00029"></a>00029     QObject::connect(<a class="code" href="class_robot.html#a6077a98499fd5a4164b4cb83c5ac514a">m_pRobotContext</a>,
<a name="l00030"></a>00030                      SIGNAL(end()),
<a name="l00031"></a>00031                      <span class="keyword">this</span>,
<a name="l00032"></a>00032                      SLOT(<a class="code" href="class_robot.html#aa252cc9c30bff243dbdf91000a058093">contextEnd</a>()));
<a name="l00033"></a>00033 
<a name="l00034"></a>00034     QObject::connect(<a class="code" href="class_robot.html#afa88703da4121d95dad2cfc33758a9b0">m_pArm</a>,
<a name="l00035"></a>00035                      SIGNAL(calibrationDone()),
<a name="l00036"></a>00036                      <a class="code" href="class_robot.html#a6077a98499fd5a4164b4cb83c5ac514a">m_pRobotContext</a>,
<a name="l00037"></a>00037                      SLOT(evArmCalibrationDone()));
<a name="l00038"></a>00038 
<a name="l00039"></a>00039     QObject::connect(<a class="code" href="class_robot.html#a55d0bf3d1e013f274b1fe4354e0de8a7">m_pCamera</a>,
<a name="l00040"></a>00040                      SIGNAL(calibrationDone()),
<a name="l00041"></a>00041                      <a class="code" href="class_robot.html#a6077a98499fd5a4164b4cb83c5ac514a">m_pRobotContext</a>,
<a name="l00042"></a>00042                      SLOT(evCameraCalibrationDone()));
<a name="l00043"></a>00043 
<a name="l00044"></a>00044 }
<a name="l00045"></a>00045 
<a name="l00046"></a><a class="code" href="class_robot.html#a924320124b09c2f2ac1621aa210d5f38">00046</a> <a class="code" href="class_robot.html#a924320124b09c2f2ac1621aa210d5f38">Robot::~Robot</a>()
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048     QLOG_DEBUG();
<a name="l00049"></a>00049     <span class="keyword">delete</span> <a class="code" href="class_robot.html#a6077a98499fd5a4164b4cb83c5ac514a">m_pRobotContext</a>;
<a name="l00050"></a>00050     <span class="keyword">delete</span> <a class="code" href="class_robot.html#afa88703da4121d95dad2cfc33758a9b0">m_pArm</a>;
<a name="l00051"></a>00051     <span class="keyword">delete</span> <a class="code" href="class_robot.html#a55d0bf3d1e013f274b1fe4354e0de8a7">m_pCamera</a>;
<a name="l00052"></a>00052 }
<a name="l00053"></a>00053 
<a name="l00054"></a><a class="code" href="class_robot.html#ab9803f802028f1a85760dc3fee009a85">00054</a> <span class="keywordtype">void</span> <a class="code" href="class_robot.html#ab9803f802028f1a85760dc3fee009a85">Robot::logInit</a>()
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056    QCoreApplication *pApp = QCoreApplication::instance();
<a name="l00057"></a>00057    QsLogging::Logger&amp; logger = QsLogging::Logger::instance();
<a name="l00058"></a>00058    logger.setLoggingLevel(QsLogging::TraceLevel);
<a name="l00059"></a>00059    <span class="comment">//Log to file</span>
<a name="l00060"></a>00060    <span class="keyword">const</span> QString logPath(QDir(pApp-&gt;applicationDirPath()).filePath(<span class="stringliteral">&quot;Log.txt&quot;</span>));
<a name="l00061"></a>00061    QsLogging::DestinationPtr fileDestination(
<a name="l00062"></a>00062       QsLogging::DestinationFactory::MakeFileDestination(logPath) );
<a name="l00063"></a>00063    logger.addDestination(fileDestination);
<a name="l00064"></a>00064    <span class="comment">//Log to standard output</span>
<a name="l00065"></a>00065    QsLogging::DestinationPtr debugDestination = QsLogging::DestinationFactory::MakeDebugOutputDestination();
<a name="l00066"></a>00066    logger.addDestination(debugDestination);
<a name="l00067"></a>00067 }
<a name="l00068"></a>00068 
<a name="l00069"></a><a class="code" href="class_robot.html#aa252cc9c30bff243dbdf91000a058093">00069</a> <span class="keywordtype">void</span> <a class="code" href="class_robot.html#aa252cc9c30bff243dbdf91000a058093">Robot::contextEnd</a>()
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071     QCoreApplication::exit(0);
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073 
<a name="l00074"></a><a class="code" href="class_robot.html#aa9557020db442f60170b50388b752eff">00074</a> <span class="keywordtype">void</span> <a class="code" href="class_robot.html#aa9557020db442f60170b50388b752eff">Robot::start</a>()
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076     QLOG_INFO();
<a name="l00077"></a>00077     <a class="code" href="class_robot.html#a6077a98499fd5a4164b4cb83c5ac514a">m_pRobotContext</a>-&gt;evCalibrateRequest();
<a name="l00078"></a>00078 }
<a name="l00079"></a>00079 
<a name="l00080"></a><a class="code" href="class_robot.html#a14dfe126ae973d3b9f81fee81a06ac22">00080</a> <span class="keywordtype">void</span> <a class="code" href="class_robot.html#a14dfe126ae973d3b9f81fee81a06ac22">Robot::stop</a>()
<a name="l00081"></a>00081 {
<a name="l00082"></a>00082     QLOG_INFO();
<a name="l00083"></a>00083     <a class="code" href="class_robot.html#a6077a98499fd5a4164b4cb83c5ac514a">m_pRobotContext</a>-&gt;evStop();
<a name="l00084"></a>00084 }
<a name="l00085"></a>00085 
<a name="l00086"></a>00086 
<a name="l00087"></a>00087 <span class="preprocessor">#include &quot;Robot.moc&quot;</span>
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